Date of Original Version

7-2012

Type

Conference Proceeding

Abstract or Description

This paper presents complementary flyover and surface exploration for reconnaissance of planetary point destinations, like skylights and polar crater rims, where local 3D detail matters. Recent breakthroughs in precise, safe landing enable spacecraft to touch down within a few hundred meters of target destinations. These precision trajectories provide unprecedented access to bird’s-eye views of the target site and enable a paradigm shift in terrain modeling and path planning. High-angle flyover views penetrate deep into concave features while low-angle rover perspectives provide detailed views of areas that cannot be seen in flight. By combining flyover and rover sensing in a complementary manner, coverage is improved and rover trajectory length is reduced by 40%. Simulation results for modeling a Lunar skylight are presented.

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Published In

Proceedings of the 8th International Conference on Field and Service Robotics.